相关论文: Learning Dense Hand Contact Estimation from Imbala…

For many robotic manipulation and contact tasks, it is crucial to accurately estimate uncertain object poses, for which certain geometry and sensor information are fused in some optimal fashion. Previous results for this problem primarily…

Manipulating objects without grasping them is an essential component of human dexterity, referred to as non-prehensile manipulation. Non-prehensile manipulation may enable more complex interactions with the objects, but also presents…

Hand gesture detection is a well-explored area in computer vision with applications in various forms of Human-Computer Interactions. In this work, we propose a technique for simultaneous hand gesture classification, handedness detection,…

We study how well different types of approaches generalise in the task of 3D hand pose estimation under single hand scenarios and hand-object interaction. We show that the accuracy of state-of-the-art methods can drop, and that they fail…

The deep learning models has significantly advanced dexterous manipulation techniques for multi-fingered hand grasping. However, the contact information-guided grasping in cluttered environments remains largely underexplored. To address…

The success of Deep Convolutional Neural Networks (CNNs) in recent years in almost all the Computer Vision tasks on one hand, and the popularity of low-cost consumer depth cameras on the other, has made Hand Pose Estimation a hot topic in…

Most existing object detectors suffer from class imbalance problems that hinder balanced performance. In particular, anchor free object detectors have to solve the background imbalance problem due to detection in a per-pixel prediction…

The hand, a complex effector comprising dozens of degrees of freedom of movement, endows us with the ability to flexibly, precisely, and effortlessly interact with objects. The neural signals associated with dexterous hand movements in…

Grasping and manipulating objects is an important human skill. Since hand-object contact is fundamental to grasping, capturing it can lead to important insights. However, observing contact through external sensors is challenging because of…

Despite extensive research spanning several decades, class imbalance is still considered a profound difficulty for both machine learning and deep learning models. While data oversampling is the foremost technique to address this issue,…

Imbalanced regression occurs when continuous target variables have skewed distributions, creating sparse regions that are difficult for machine learning models to predict accurately. This issue particularly affects neural networks, which…

Bimanual object manipulation involves multiple visuo-haptic sensory feedbacks arising from the interaction with the environment that are managed from the central nervous system and consequently translated in motor commands. Kinematic…

Hand action recognition is essential. Communication, human-robot interactions, and gesture control are dependent on it. Skeleton-based action recognition traditionally includes hands, which belong to the classes which remain challenging to…

Medical events of interest, such as mortality, often happen at a low rate in electronic medical records, as most admitted patients survive. Training models with this imbalance rate (class density discrepancy) may lead to suboptimal…

Human-Computer Interaction (HCI) has been the subject of research for many years, and recent studies have focused on improving its performance through various techniques. In the past decade, deep learning studies have shown high performance…

Hand orientation is an essential feature required to understand hand behaviors and subsequently support human activities. In this paper, we present a new method for estimating hand orientation in probability density form. It can solve the…

In-hand manipulation tasks, particularly in human-inspired robotic systems, must rely on distributed tactile sensing to achieve precise control across a wide variety of tasks. However, the optimal configuration of this network of sensors is…

Discriminative methods often generate hand poses kinematically implausible, then generative methods are used to correct (or verify) these results in a hybrid method. Estimating 3D hand pose in a hierarchy, where the high-dimensional output…

Previous learning based hand pose estimation methods does not fully exploit the prior information in hand model geometry. Instead, they usually rely a separate model fitting step to generate valid hand poses. Such a post processing is…

Human-Object Interaction (HOI) detection has received considerable attention in the context of scene understanding. Despite the growing progress on benchmarks, we realize that existing methods often perform unsatisfactorily on distant…